CN104040874B - For the method manipulating stepping motor - Google Patents
For the method manipulating stepping motor Download PDFInfo
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- CN104040874B CN104040874B CN201380004503.XA CN201380004503A CN104040874B CN 104040874 B CN104040874 B CN 104040874B CN 201380004503 A CN201380004503 A CN 201380004503A CN 104040874 B CN104040874 B CN 104040874B
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- stepping motor
- copped wave
- wave pulse
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- current
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000002085 persistent effect Effects 0.000 claims abstract description 29
- 230000005672 electromagnetic field Effects 0.000 claims abstract description 7
- 230000003068 static effect Effects 0.000 claims description 18
- 238000005259 measurement Methods 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000001052 transient effect Effects 0.000 claims description 4
- 230000010355 oscillation Effects 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- YJQZYXCXBBCEAQ-UHFFFAOYSA-N ractopamine Chemical compound C=1C=C(O)C=CC=1C(O)CNC(C)CCC1=CC=C(O)C=C1 YJQZYXCXBBCEAQ-UHFFFAOYSA-N 0.000 claims 1
- 230000008859 change Effects 0.000 description 6
- 230000002123 temporal effect Effects 0.000 description 5
- 238000004804 winding Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/12—Control or stabilisation of current
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
nullThe present invention relates to a kind of method for manipulating stepping motor，In the method，The stator coil of stepping motor is the most sequentially energized by electronic control device，Make to produce the electromagnetic field rotated，Wherein，When being energized for given stator coil，It is electronically controlled device by the electric current of the wire turn of this stator coil and first brings up to defined current specification value，And after reaching current specification value，Electric current is chopped in the following way，I.e.，Being cut off the constant time period by electric current repeatedly and then carrying out copped wave pulse through wire turn provided by electronic control device，Again it is switched on by electric current by what electronic control device provided during copped wave pulse，Until again reaching current specification value，Wherein，Described electronic control device by the width of each copped wave pulse with can be predetermined the reference persistent period compared with，The width of described copped wave pulse was defined by the persistent period needed for again reaching current specification value after reclosing by electric current，And once the width of copped wave pulse is first less than with reference to the persistent period，Described electronic control device begins to the stator coil energising to be energized as the next one，In the method，The described working condition being matched with stepping motor with reference to the persistent period during manipulation stepping motor.
Description
Technical field
The present invention relates to a kind of method for manipulating stepping motor.
Background technology
Stepping motor is the welcome type of one of motor.In stepping motor, pass through electronic control device
So control the energising of stator coil so that the electromagnetic field that rotor is followed rotates stepwise.
Motor driver output stage principle based on the fixing breaking time limited for electric current, electricity in this principle
The motor driver output stage of sub-controller part makes the line by the coil being correspondingly steered after applying the control signal
First the electric current of circle brings up to the setting of adjusted (einstellen), and motor driver output stage allows evaluation to pass through
The fixing signal limiting electric current breaking time.Energising starts until the time reaching current specification value first is referred to as " electric current
Rise time ".For completeness, illustrate in this position, multiple coils be arranged on motor various location and
Jointly being manipulated, these coils are referred to as stator coil in patent document.
After reaching setting, electronic control device (it is exactly the motor-driven of this electronic control device
Device output stage) provide, being cut off the constant time period by electric current repeatedly and being the most again switched on by wire turn,
Until again reaching current specification value.By wire turn by electric current cut-off period, electric current is led by unloaded diode
Go out.
Following this method is referred to as " copped wave ", the most in multiple times experience include interrupting by electric current and
Then electric current is brought up to the cycle of setting.After electric current limits decline according to electric current based on fixing breaking time,
Make electric current again reach setting required for time be referred to as " copped wave pulse "；In other words, the width of copped wave pulse is understood
For the described copped wave pulse persistent period in time.
Here, for stepping motor according to regulation operation principle it is essential that, electromagnetic field is not also not have at rotor
Have when reaching its final assigned position and the most further rotate by being energized to next stator coil.If situation is such as
, such as, because motor can make not expect high load exercise, the most at least there is stepping loss, if not then occurring in this
Motor blocks.But disadvantageous also, only exceed maximum field alignment after further turn on electromagnetic field the most clearly, because of
On the one hand inefficiency and the danger of the most implicit vibration is caused for this.
By a series of different processing methods for controlling motor known in the art, in order to keep away the most well
Exempt from this problem.May the manipulation of simple types be the fixing step frequency using and there is the stepping time determined.In order to
This manipulation is avoided locking must ensure that the highest it is contemplated that load in the case of, rotor starts in upper once stepping
Reached the target location of this rotor by electronic control device before.But this also results in, loaded with less load
Rotor be only capable of running with the lower step frequency of the step frequency than actual capabilities, thus cannot optimally utilize and be provided
Torque, this brings the poor efficiency of driving means therewith.
Reach more preferable efficiency as premise, i.e. will represent that the signal implementing motor stepping is to electronics control with signal
Device processed is to returning feedback.A kind of probability is, being provided with encoder, this encoder synchronizes in terms of the step angle of motor.
Although this can optimize efficiency, but expensive solution, this solution brings additional space requirement the most therewith in addition.
A kind of alternative probability comprise on circuit engineering realize probability ground such as at DE 4,121 617 A1 and DE
Disclosed in 196 09 803 C1, this probability is to analyze electric current at copped wave run duration curve in time, in order to draw
Whether performed the conclusion of stepping by motor: the rate of climb of the electric current in wire turn and the voltage of applying, the resistance of coil
Relevant with inductance.But the inductance of given stator coil itself is relevant with the position relative to each other of rotor and stator coil, when
When stator-rotator alignment is maximum, that is when stator and rotor are positioned directly in before each other, the inductance of described stator coil is
Big.As a result, therefore when rotor rotates, the inductance of stator coil is modulated.This modulation of inductance causes, rotor exceed as
After lower position, it is closest at this position rotor and observed stator coil, the discernable ground of the width of copped wave pulse
Reduce.
Therefore, people can as be disclosed more closely in DE 41 21 617 A1 and DE 196 09 803 C1 that
Sample definition for the reference pulse width of copped wave pulse, can monitor copped wave pulse width and can be by by copped wave pulse
It is used as the index for following situation first, i.e. carry out rotor rotation and therefore can pass through to give less than reference pulse width
Next stator coil energising makes stepping next time start.This processing method is also with concept " chop control " (" Chopper-
Control ") known.
But prove in practice, although the feedback of the type improves the efficiency of driving means, but also leaves improvement
Space.Proving problematic, the stepping motor of stepping motor, particularly cramped construction pattern is due to its stator coil
Winding high internal resistance and run duration along with power density rise and heating.This temperature rising itself brings internal resistance therewith
Raise.Specifically, the resistance of the winding of the coil being made of copper such as is improved about 23% when temperature raises 60 DEG C.Coil
Higher resistance cause the rising of width of copped wave pulse when constant voltage.
It means that the selection of reference pulse width (such as the motor temperature of 20 °) guarantees: in order to the next one is wanted
The stator coil of manipulation was carried out in the moment substantially optimized, thus can reach the high efficiency of driving means when this temperature,
Just it is lower than in copped wave pulse after a while when motor temperature 80 DEG C, thus the driving means when this motor temperature
Efficiency is substantially deteriorated and motor runs with the step frequency lower than the most possible step frequency.But in contrast
Ground, uses relatively (as this temperature such as will exist after the dwell when first start motor) when relatively low motor temperature
Little reference pulse width is impossible.
By a kind of known method of DE 10 2,006 021 418 A1, in the method by the electricity monitored in connecting the moment
The possible locking of motor is inferred in stream rise time and voltage measurement.
By US 2012/0014732 A1 it is known that draw current power by solving the current rise time connecting the moment
The conclusion of machine temperature, in order to avoid motor overheating by reducing current specification value when motor temperature is too high.
Summary of the invention
The task of the present invention is, it is provided that a kind of for manipulating stepping motor, utilizes the method can be with higher
Efficiency, particularly with higher step frequency run stepping motor.This task is come by the method with inventive feature
Solve.A kind of method for manipulating stepping motor, in the method, the stator coil of stepping motor passes through Electronic Control
Device is the most sequentially energized so that produces the electromagnetic field rotated, wherein, when being energized for given stator coil, passes through
The electric current of the wire turn of this stator coil is electronically controlled device and first brings up to defined current specification value, and is reaching electricity
After stream setting, electric current is chopped in the following way, i.e. passed through electric current by what electronic control device provided through wire turn
It is cut off the constant time period repeatedly and then carries out copped wave pulse, being provided by electronic control device during copped wave pulse
Be again switched on by electric current, until again reaching current specification value, wherein, described electronic control device is by each copped wave arteries and veins
The width of punching with can be predetermined reference the persistent period compared with, the width of described copped wave pulse passes through to pass through electric current reclosing
The most again the persistent period needed for reaching current specification value defines, and the width of once copped wave pulse is first less than reference
Persistent period, described electronic control device begins to the stator coil energising to be energized as the next one, it is characterised in that institute
Stating and be matched with the working condition of stepping motor with reference to the persistent period during manipulation stepping motor, wherein, described reference is held
Continue the time coupling for the working condition of stepping motor during manipulation stepping motor based on copped wave pulse current wide
The measurement of degree, the measurement of the current reference pulse width of copped wave pulse is carried out in static stepping motor, in order in manipulation
During stepping motor, coupling is with reference to the persistent period, and described copped wave pulse is measured in the stepping motor of static energising
Width is associated with copped wave pulse corresponding width in the stepping motor of the energising rotated on look-up table, and uses
The value being associated included in look-up table is as the current reference persistent period.
According to the method being used for manipulating stepping motor according to the present invention, the stator coil of described stepping motor passes through
Electronic control device is the most sequentially energized so that produce the electromagnetic field rotated.Here, when being energized for given stator coil
It is electronically controlled device by the electric current of the wire turn of this stator coil and first brings up to defined current specification value, and connect
, after reaching setting, electric current is chopped in the following way, i.e. that provided by electronic control device, through wire turn
It is cut off the constant time period by electric current repeatedly and then carries out copped wave pulse, by Electronic Control during copped wave pulse
What device provided is switched on by electric current, again until again reaching current specification value.
Here, as by chopped wave controlling method generally known as, described electronic control device is by each copped wave pulse
Width with can be predetermined the reference persistent period compared with, the width of described copped wave pulse is by after reclosing by electric current
Again the persistent period needed for reaching current specification value defines, and the width of once copped wave pulse is first less than with reference to continuing
Time, described electronic control device begins to the stator coil energising to be energized as the next one.
To the present invention it is essential that, described with reference to the persistent period manipulation stepping motor during be matched with stepping motor
Current operating conditions.Described stepping motor is caused to run near its operating point optimized all the time by this measure, thus
Reach the efficiency improved.
According to the particularly advantageous embodiment of the one of the present invention, the described reference persistent period is in the manipulation stepping motor phase
Between for stepping motor working condition coupling measurement based on reference pulse width, reference pulse width in pulsing operation
Measuring in the stepping motor, so-called pre-power up phase of static energising by multiple cycles of current rise time of degree
On carry out.Described pre-power up phase has following background, i.e. be placed in by motor defined in terms of stator-rotator alignment
In original state, because there is following probability in the state being not powered on, i.e. rotor is between the two poles of the earth.This may lead again
Cause disadvantageous starting characteristic, be energized therefore correspondingly to before starting motor wire turn in advance.The method here proposed is relative
(the most only electric current is applied until first in the first time at electric current in the method described in US20120014732A1
It is evaluated during the cycle of the secondary current rise time reached between maximum) have the advantage that, i.e. reliably avoid
The interference effect that occurs during motion and obtain by measuring the multiple time periods in these time periods there is less statistics
The measured value of measurement error.
Prove be particularly suitable in the stepping motor of static energising measure copped wave pulse current width with
In coupling during manipulation stepping motor with reference to the mode of persistent period: by described copped wave pulse in static energising
Width measured in stepping motor on look-up table with copped wave pulse in the stepping motor of the energising rotated corresponding
Width is associated, and uses the value being associated included in a lookup table as the current reference persistent period.
One in described embodiment is particularly advantageous to be further expanded in scheme, and described look-up table is in the following way
Set up, i.e. for the sample of given step motor type, for including resistance (according to variations in temperature), inductance, voltage and electricity
The various combination of stream solves copped wave pulse width in the stepping motor of static energising and copped wave pulse respectively and is rotating
Energising stepping motor in respective width and store it in look-up table.Here, for each combination, with physics
There is the value of resistance, inductance, voltage and current in relation possible on.Because not only resistance and inductance may be specific by it
Characteristic (such as such as temperature dependency) and voltage are likely to such as be caused by unstable power supply rise at electric current and electric current
Time-related change, but which parameter causes change to be unessential for observing the rise time, meaningfully by advance
The time value solved in power up phase infers the stepping motor of the energising of (kommutieren) for commutation/rotation
Time value.Use this solved chart to provide not only the probability of the resistance variations compensating static state and provide benefit
Repaying the probability of dynamic resistance variations, it is long that the resistance variations of described static state such as may pass through production batch, different wires
Or the most different connecting lines and the tolerance of contacting and cause, described dynamic resistance variations is such as by causing temperature
Change and cause.
Addedly indicate, the temperature survey of the running temperature of motor can also be carried out by means of such chart, because
Electric current and voltage can simply measure, and thus can calculate current coil resistance and can then by coil resistance
The temperature dependency known solves motor temperature.
Being proved as particularly advantageously, the transient state at stepping motor of measuring of the current width of described copped wave pulse is shaken
The state swung is carried out, that is, at least one rotor pole and stator poles are optimally in opposite directions that is are directed at, because at this shape
Guaranteeing in state: avoid the interference effect of undefined rotor-position, this impact is by the backward voltage sensed electricity based on motor
Kinetic potential (EMK) is caused.
It is particularly preferred that the measurement of the width that described copped wave pulse is in the stepping motor of static energising is pre-logical
The electricity stage is carried out, because thus should carry out the moment noncontradictory that rotates at motor avoiding the time needs added.
Accompanying drawing explanation
The present invention is explained in more detail below by accompanying drawing.In figure:
Fig. 1 is shown in the stepping motor of rotation, in the stator coils the measured temporal curve of phase current；
Fig. 2 is shown in static stepping motor and when rotor-stator alignment is maximum, electricity mutually
The measured temporal curve of stream；
Fig. 3 illustrates when applying not provide before electric current the rotor-stator of maximum on time, electronic in static stepping
The measured temporal curve of phase current in the stator coils in machine；And
Fig. 4 is shown in amplifying locally and affiliated chopping signal of the signal in copped wave period Fig. 1.
Detailed description of the invention
Fig. 1 and time t is shown in the stepping motor of rotation the institute of phase current I (t) in the stator coils relatively
The curve measured.The control signal of electronic control device is set at moment t (I0).Start to stator coil energising and continue straight
Extremely reach predetermined maximum current intensity Imax at moment t (Imax1).Here, the inductance of the winding due to stator coil, phase
Electric current is not to follow immediately but rises lentamente.This is according to DE 10 2,006 021418 A1 or US2012/
The persistent period that the training centre of 0014732 A1 is analyzed.
Then, electric current supply runs with being chopped into, as can particularly good find out in the amplification diagram of Fig. 4.
Two curves that figure 4 illustrates represent chopping signal at following curve, this chopping signal and time correlation ground according to
The state by electric current " high " of the connection of electronic control device and the shape by electric current of the disconnection according to electronic control device
Toggle between state " low ".As can find out by curve, always when reaching Imax, chopping signal is with time fixing
Between section be converted into state " low ".During the described time period, phase current I (t) declines, wherein, and the amplitude of decline and stator coil
Inductance relevant, and because rotor is just towards described stator after applying control signals on observed stator coil
Coil movement, so the amplitude declined becomes less the most in time.
As result, the chopping signal time period in the state of " high " always shortens until final reference persistent period quilt
It is less than and the energising of next stator coil is activated.
Additionally, in figures 1 and 4 the most exemplarily by initial time t (Ichopper n) and end time t (Imax
N+l) persistent period that labelling is following, the analysis of described persistent period is for updating with reference to the persistent period according to the present invention.
As by according to Fig. 2 in static stepping motor and when rotor-stator alignment is maximum, phase in the stator coils
As the view of the measured temporal curve of electric current is drawn, in this case, the width of copped wave pulse is basic
On be constant because the inductance of stator coil no longer changes.But, as long as this puts only working condition and particularly stator coil
The temperature of wire turn keep constant and be just suitable for；If working condition changes, the resistance of stator coil just changes and therefore passes through
Electric current also changes.Additionally, by comparison can find out with the situation in the motor of the rotation that figure 1 illustrates: until reaching electricity
The rise time of stream Imax the most correspondingly shortens.
Therefore, however, it would be possible to, also ask in the resting state of stepping motor, such as during pre-power up phase
Solve the width of copped wave pulse, the most also can realize the measurement repeatedly of result with average.The most in this case, static
With the association between the width of the copped wave pulse in the stepping motor rotated must provide boundary condition such as resistance (according to temperature
Degree), inductance, found and be made into chart in the case of voltage and current intensity.
Fig. 3 with other times than exemplifying when applying not provide before electric current the rotor-stator of maximum on time,
The measured temporal curve of phase current in the stator coils in static stepping motor, becomes clearly by means of Fig. 3
It is that it is favourable for why implementing to measure in the state of the transient oscillation of stepping motor.Region on the left of axis of ordinates
Can be seen that the superposition electric current waveform change curve by the change caused by copped wave of the envelope of curve I (t), this change
Transient response and the EMK occurred at this of curve negotiating rotor are caused.Correspondingly, measure in such state with relatively
High error and be more insecure.
Claims (4)
1., for the method manipulating stepping motor, in the method, the stator coil of stepping motor passes through electronic controller
Part is the most sequentially energized so that produce the electromagnetic field rotated,
Wherein, when being energized for given stator coil, it is electronically controlled device by the electric current (I) of the wire turn of this stator coil
First defined current specification value (I is brought up tomax), and reaching current specification value (ImaxAfter), electric current (I) is by such as
Under type is chopped into, i.e. be cut off the constant time by what electronic control device provided repeatedly by electric current through wire turn
Section and then carry out copped wave pulse, during copped wave pulse by electronic control device provide logical
Overcurrent is switched on again, until again reaching current specification value (Imax),
Wherein, described electronic control device by the width of each copped wave pulse with can be predetermined the reference persistent period compared with, institute
State the width of copped wave pulse by again reaching the persistent period needed for current specification value after reclosing by electric current
Definition, and the width of once copped wave pulse is first less than with reference to the persistent period, and described electronic control device begins to conduct
Next stator coil energising to be energized,
It is characterized in that, the described work bar being matched with stepping motor with reference to the persistent period during manipulation stepping motor
Part, wherein, described with reference to the persistent period during manipulation stepping motor the coupling base of working condition for stepping motor
In the measurement of the current width of copped wave pulse, measuring at static stepping motor of the current reference pulse width of copped wave pulse
In carry out,
In order to during manipulation stepping motor, coupling is with reference to the persistent period, described copped wave pulse is at the stepping electricity of static energising
Width measured in motivation on look-up table with copped wave pulse corresponding width phase in the stepping motor of the energising rotated
Association, and use the value being associated included in a lookup table as the current reference persistent period.
Method the most according to claim 1, it is characterised in that described look-up table is set up in the following way, i.e. be given
The sample of step motor type, for including that resistance, inductance, the various combination of voltage and current solve copped wave pulse respectively
Width in the stepping motor of static energising and the copped wave pulse corresponding width in the stepping motor of the energising rotated
Spend and store it in look-up table.
Method the most according to claim 1 and 2, it is characterised in that the measurement of the current width of described copped wave pulse is in step
The state of the transient oscillation entering motor is carried out.
Method the most according to claim 3, it is characterised in that described copped wave pulse is at the stepping motor of static energising
In the measurement of width carry out in pre-power up phase.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012105740.0 | 2012-06-29 | ||
| DE102012105740.0A DE102012105740A1 (en) | 2012-06-29 | 2012-06-29 | Method for controlling a stepping motor |
| PCT/EP2013/063721 WO2014001545A2 (en) | 2012-06-29 | 2013-06-28 | Method for actuating a stepping motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104040874A CN104040874A (en) | 2014-09-10 |
| CN104040874B true CN104040874B (en) | 2016-12-21 |
Family
ID=48741129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380004503.XA Active CN104040874B (en) | 2012-06-29 | 2013-06-28 | For the method manipulating stepping motor |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP2680432B1 (en) |
| JP (1) | JP6054518B2 (en) |
| CN (1) | CN104040874B (en) |
| DE (1) | DE102012105740A1 (en) |
| WO (1) | WO2014001545A2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014112500A1 (en) * | 2014-08-29 | 2016-03-03 | Trinamic Motion Control Gmbh & Co. Kg | Method and circuit arrangement for operating a stepper motor |
| DE112017006504T5 (en) | 2016-12-22 | 2020-04-23 | Cps Technology Holdings Llc | VALVE ARRANGEMENT FOR A BATTERY COVER |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4121617A1 (en) * | 1991-06-29 | 1993-01-07 | Robotron Bueromasch Ag | Logic information drive circuitry for stepper motor windings - has evaluation circuit for chopper pulses fed to power output stages for motor windings |
| DE19609803C1 (en) * | 1996-03-13 | 1997-05-22 | Bdt Buero Datentech Gmbh | Stepping frequency circuit of stepper-motor drive e.g. for office machines and printers |
| CN1288604A (en) * | 1998-09-10 | 2001-03-21 | 精工爱普生株式会社 | Stepper motor drive, method of driving steeper motor, timer and method of controlling timer |
| DE102006021418A1 (en) * | 2006-05-05 | 2007-11-15 | Bdt Ag | Stepper motor controlling method for e.g. robotics mechanism, involves carrying out evaluation of operating current rise time in motor coil until maximum operating current is reached |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02211100A (en) * | 1989-02-09 | 1990-08-22 | Seiko Epson Corp | Drive control method for stepping motor |
| JPH05236796A (en) * | 1992-02-19 | 1993-09-10 | Tokyo Electric Co Ltd | Driver for step motor |
| JPH06113596A (en) * | 1992-09-29 | 1994-04-22 | Canon Inc | Step motor |
| US8659805B2 (en) | 2010-07-13 | 2014-02-25 | Kabushiki Kaisha Toshiba | Motor driving control device, image forming apparatus, and image forming method |
-
2012
- 2012-06-29 DE DE102012105740.0A patent/DE102012105740A1/en not_active Ceased
-
2013
- 2013-06-21 EP EP13173271.1A patent/EP2680432B1/en active Active
- 2013-06-28 JP JP2015510843A patent/JP6054518B2/en active Active
- 2013-06-28 WO PCT/EP2013/063721 patent/WO2014001545A2/en active Application Filing
- 2013-06-28 CN CN201380004503.XA patent/CN104040874B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4121617A1 (en) * | 1991-06-29 | 1993-01-07 | Robotron Bueromasch Ag | Logic information drive circuitry for stepper motor windings - has evaluation circuit for chopper pulses fed to power output stages for motor windings |
| DE19609803C1 (en) * | 1996-03-13 | 1997-05-22 | Bdt Buero Datentech Gmbh | Stepping frequency circuit of stepper-motor drive e.g. for office machines and printers |
| CN1288604A (en) * | 1998-09-10 | 2001-03-21 | 精工爱普生株式会社 | Stepper motor drive, method of driving steeper motor, timer and method of controlling timer |
| DE102006021418A1 (en) * | 2006-05-05 | 2007-11-15 | Bdt Ag | Stepper motor controlling method for e.g. robotics mechanism, involves carrying out evaluation of operating current rise time in motor coil until maximum operating current is reached |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102012105740A1 (en) | 2014-01-02 |
| EP2680432B1 (en) | 2020-03-25 |
| EP2680432A3 (en) | 2016-08-10 |
| JP6054518B2 (en) | 2016-12-27 |
| WO2014001545A3 (en) | 2014-05-08 |
| JP2015516140A (en) | 2015-06-04 |
| WO2014001545A2 (en) | 2014-01-03 |
| CN104040874A (en) | 2014-09-10 |
| EP2680432A2 (en) | 2014-01-01 |
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